Remove index.php from url

Hello, I expect that this question been beaten to death. I googled for many hours and all what I found is related to one CMS or another. I want to do is to make a very very very simple index.php that when is it called it automatically detect the page and load it. For example, when I call www.xyz.com/index.php/company, it calls for company.html. I have made that index.php. Now I need to remove this index.php from the url. Can you help? -- OOzy Ubuntu-Gutsy (7.10)